Method and apparatus for surveying a borehole with a rotating sensor package

ABSTRACT

A method and apparatus for surveying a borehole using a rotating sensor package. A sensor tool preferably including a magnetometer sensor array is disposed in the bottom hole assembly of a drillstring. Conditioning circuitry in the sensor tool processes the sensor readings from the sensor array taken while the drillstring is rotating. In one embodiment, the conditioning circuitry includes processing circuitry adapted to adjust the sensor readings to account for an analytically predicted level of axial current induced in the drillstring as a result of its rotation in the Earth&#39;s magnetic field. In another embodiment, a current generator is provided to generate a counter-current intended to cancel the analytically predicted level of axial current induced in the drillstring as a result of rotation in the Earth&#39;s magnetic field. In another embodiment, insulating members are disposed above and/or below the sensor tool to prevent conduction of rotation-induced current therein. In still another embodiment, the sensor tool is disposed in a drill collar that is composed of a non-conducting material, such that no rotation-induced current is conducted through the sensor tool.

FIELD OF THE INVENTION

This invention relates generally to the field of hydrocarbon explorationand production, and more particularly relates to the surveying ofboreholes.

BACKGROUND OF THE INVENTION

There is a growing need within the industry for higher precisionborehole surveys and for more frequent survey data. This is driven byseveral factors:

First, those of ordinary skill in the art will appreciate that there arethe obvious increased financial benefits from optimal positioning ofwell bores within targets. Higher precision surveys also reduce thedifficulty in reaching smaller targets. Further, there has been arecognized need for a more detailed understanding of the localstructures of boreholes to control drag and to monitor deviationtendencies.

Geological steering (also known as geosteering) relies on prior wellinformation and/or seismic information in addition to the geometriccoordinates of the well being drilled. Since it takes on the order of athousand feet to optimally position a well bore in a formation,geological markers, some well above the target zone, are typically usedas reference points for programmed changes in the borehole trajectory.Any geometric error in the location of these points, such as errorscaused by surveying inaccuracies, must be interpreted either as a changein geology or as a pure error. There is no known way to make adistinction between these alternatives. Hence, even though geosteeringis used, geometric survey errors can cause a trajectory to completelymiss the proposed target, or to be suboptimally located within thattarget. Positioning accuracy can be improved by taking more frequentsurveys.

Historically, the conventional approach for borehole surveying was totake certain borehole parameter readings or surveys only when thedrillstring was not rotating. While there were several reasons fortaking measurement-while-drilling (MWD) measurements only in the absenceof drillstring rotation, a principal reason for doing so was that thesensor arrays commonly used for measurement of the drillstring's azimuthand inclination (e.g., triaxial accelerometer and magnetometer sensorarrays) yielded the most reliable sensor outputs only when the drillstring was stationary.

Some time ago, however, it came to be recognized that it is desirable inmany circumstances to be able to measure azimuth and inclination whilethe drillstring is rotating. Examples of such circumstances includewhere drilling is particularly difficult and interruption of therotation could increase drillstring sticking problems, or whereknowledge of instantaneous bit walk information is desired in order toknow and predict the real-time path of the borehole.

Those of ordinary skill will recognize that the prior art is repletewith proposed systems and methods for obtaining azimuth and inclinationmeasurements for the purposes of directional drilling. An early exampleis U.S. Pat. No. 4,733,733 to Bradley, titled “Method of Controlling theDirection of a Drill Bit in a Borehole,” which proposes utilizing anear-bit mechanics sensor and position monitor sensor to measure themagnitude of bending moments on the drill string.

It is more common, however, to utilize magnetometer and accelerometersensor arrays disposed in a downhole segment of a drillstring to measureazimuth and inclination of a borehole. See, for example, U.S. Pat. No.4,472,884 to Engebretson, titled “Borehole Azimuth Determination UsingMagnetic Field Sensor.” See also, U.S. Pat. No. 4,813,274 to DiPersio etal., titled “Method for Measurement of Azimuth of a Borehole WhileDrilling;” U.S. Pat. No. 4,894,923 to Cobern et al., titled “Method andApparatus for Measurement of Azimuth of a Borehole While Drilling;” U.S.Pat. No. 5,012,412 to Helm, titled “Method and Apparatus for Measurementof Azimuth of a Borehole While Drilling;” U.S. Pat. No. 5,128,867 toHelm, titled “Method and Apparatus for Determining Inclination Angle ofa Borehole While Drilling;” U.S. Pat. No. 5,602,541 to Comeau et al.,titled “System for Drilling Deviated Boreholes;” U.S. Pat. No. 6,405,808to Edwards et al., titled “Method for Increasing the Efficiency ofDrilling a Wellbore, Improving the Accuracy of its Borehole Trajectoryand Reducing the Corresponding Computed [Ellipse] of Uncertainty;” U.S.Pat. No. 6,438,495 to Chau et al., titled “Method for Predicting theDirectional Tendency of a Drilling Assembly in Real-Time;” U.S. Pat. No.Re. 35,790 to Psutanyk et al., titled “System for Drilling DeviatedBoreholes;” U.K. Patent No. 2,369,685, titled “Method of DeterminingTrajectory in Borehole Drilling;” and U.K. Patent No. 2,370,361, titled“Borehole Survey Method and Apparatus.

Of course, in any drilling system utilizing magnetometer- andaccelerometer-based sensor arrays to measure and control the trajectoryof the drillstring, optimal reliable performance of such systems isnecessarily dependent upon the accuracy of the sensor data that isprovided from the down-hole sensors. Accordingly, it is generallyunderstood that steps should preferably be taken to address the variousfactors that can adversely impact the accuracy or precision of thesensor data. Numerous such factors have been recognized in the priorart, and numerous approaches for addressing such factors have beenproposed in the prior art.

For example, U.S. Pat. No. 5,806,194 to Rodney et al. proposes a methodof correcting for the distorting effect of cross-axial magneticinterference on the readings of a well survey tool. Rodney et al.propose taking certain measurements of gravitational and cross axismagnetic fields at two or more axial locations in a well bore and usingthese readings to statistically estimate the cross-axis interference.The Rodney et al. '194 patent is commonly assigned to the assignee ofthe present invention, and is hereby incorporated by reference herein inits entirety.

Numerous other teachings relating to accounting for certain types oferror in survey tool magnetometer and accelerometer sensor readings areknown in the prior art. See, e.g., U.S. Pat. No. 6,021,577 to Shiells etal., entitled “Borehole Surveying;” and U.S. Pat. No. 6,470,275 toDubinsky, entitled “Adaptive Filtering with Reference Accelerometer forCancellation of Tool-Mode Signals in MWD Applications.”

U.S. Pat. No. 5,321,893 to Engebretson proposes a technique intended tocorrect for fixed or induced magnetic fields in segments of adrillstring. According to Engebretson, a drillstring has an anomalousmagnetization composed of both a fixed component resulting frompermanently magnetized elements in the bottom hole assembly (“BHA”) andan “induced” component resulting from the interaction of soft magneticmaterials with the Earth's magnetic field. Engebretson seeks to modelthe along-axis component and compensate for this error in computation ofazimuthal direction independent of inclination and direction.

Those of ordinary skill in the art will appreciate that in addition tothis interaction of magnetic materials in the BHA with the Earth'smagnetic field giving rise to an “induced” magnetic field in thedrillstring, there is another, separate electromagnetic mechanism bywhich a magnetic field may be “induced” in a drillstring. In particular,according to Faraday's Law, when a drillstring rotates in the Earth'smagnetic field, electrical currents are induced along the drillstring.The conduction of these induced currents along the drillstring, in turn,generates a magnetic field orthogonal to the drillstring, whichinterferes with the measurement of Earth's magnetic field. Such amagnetic field resulting from induced currents in a drillstring is to bespecifically distinguished from the excess component of magnetic fieldthat appears in a permeable material when it is immersed in an ambientfield, despite the fact that both magnetic fields are sometimes referredto as “induced” fields. For clarity, the former induced magnetic fieldshall be referred to herein as a “rotation-induced magnetic field” andthe latter an “ambient-induced magnetic field.” These two types of“induced” fields are quite different, and techniques for modeling and/orcompensating for one would not be effective to do so for the other. Forexample, it is believed that the techniques proposed in theabove-referenced Engebretson '893 patent would not be completelyeffective, and perhaps may be completely ineffective, in compensatingfor rotation-induced magnetic fields.

A simple one-dimensional analysis of the problem of rotation-inducedmagnetic fields arising due to induced currents in a rotatingdrillstring reveals that the interfering magnetic field will tend toscreen out the cross-axial components of the Earth's magnetic field androtate the cross-axial field as observed in the reference frame of thedrillstring. Empirical analysis has shown that this can result inserious survey errors; hence, drillers oftentimes are forced tointerrupt the rotation of the drillstring in order to obtain accurateborehole survey data. Drillers may, in fact, be unaware of thephenomenon of rotation-induced current induction, but may neverthelessstop rotation of the drillstring to stabilize the survey instruments andobtain the most accurate measurement possible. If means were known toeliminate the effects of vibration on inclinometers and magnetometers,it would still be necessary to stop rotation when making measurementsdue to rotation-induced currents during rotation.

SUMMARY OF THE INVENTION

In view of the foregoing considerations, the present invention isdirected to systems and methods for surveying a borehole with a rotatingsensor package which take into account the presence of rotation-inducedmagnetic fields in a drillstring.

Broadly speaking, the present invention relates to several alternativebut not necessarily mutually exclusive approaches for conductingborehole surveys with a rotating sensor package which take into accountthe potential for rotation-induced magnetic fields.

In one approach, steps are taken to prevent the electrical currents frombeing generated due to rotation of the drill string in the Earth'smagnetic field. This can be accomplished in various ways. In oneembodiment, electrically insulated drillstring joints on either side ofthe survey tool are provided to eliminate the current path for inducedcurrents. Through elimination of the induced current, there willconsequently be no rotation-induced magnetic field to contend with, evenwhile the drillstring is rotating.

In another approach, calibration and analytical modeling are utilized toestimate the rotation-induced magnetic interference. The estimate maythen be accounted for in subsequent analysis of sensor data.

In still another approach, a current source is provided to generate acounter-current to cancel the estimated rotation-induced current.Alternatively, the actual rotation-induced current in the drillstring ismeasured, and the current source responds by generating the cancelingcounter-current.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other features and aspects of the present inventionwill be best understood with reference to the following detaileddescription of a specific embodiment of the invention, when read inconjunction with the accompanying drawings, wherein:

FIG. 1 is a functional block diagram of a surveying-while-rotatingsystem in accordance with one embodiment of the invention;

FIG. 2 is a functional block diagram of the downhole hardware used inthe system of FIG. 1 to control the operation of sensors therein;

FIG. 3 is a diagram of a sensor tool adapted for use in thesurveying-while-rotating system from FIG. 1; and

FIG. 4 is a flow diagram illustrating the steps involved in asurveying-while-rotating operation conducted in accordance with thepresent invention.

DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

In the disclosure that follows, in the interest of clarity, not allfeatures of actual implementations are described. It will of course beappreciated that in the development of any such actual implementation,as in any such project, numerous engineering and technical decisionsmust be made to achieve the developers' specific goals and subgoals(e.g., compliance with system and technical constraints), which willvary from one implementation to another. Moreover, attention willnecessarily be paid to proper engineering and programming practices forthe environment in question. It will be appreciated that such adevelopment effort might be complex and time-consuming, but wouldnevertheless be a routine undertaking for those of ordinary skill in therelevant fields.

Furthermore, for the purposes of the present disclosure, the terms“comprise” and “comprising” shall be interpreted in an inclusive,non-limiting sense, recognizing that an element or method step said to“comprise” one or more specific components may include additionalcomponents.

Referring to FIG. 1, there is shown a functional block diagram of asurveying-while-rotating system 10 in accordance with one embodiment ofthe invention. The system 10 consists of a first set of inclinometersand magnetometers, that are sampled at a relatively high data rate, forexample, on the order of one hundred samples per second. In accordancewith one aspect of the invention, this high sample rate data, alsoreferred to herein as rotating sensor data, is generated continuously,while the drillstring is rotating. This rotating sensor data is providedas input to system 10 as indicated at reference numeral 12 in FIG. 1.The rotating sensor input data 12 is first subjected to conventionalconditioning processes, such as bias corrections, scale factorcorrections, and/or cross-axial survey correction as represented byblock 14 and Kalman Filter analysis as represented by block 16. Variousmethodologies for and implementations of cross-axial correction andKalman filters are well known in the art, and processes are commonlyused in the field to estimate and account for process and measurementnoise in discrete data streams. The data is then subjected to furtherprocessing at block 18 to identify valid data (i.e., to cull out knowninvalid data points).

Once valid data has been identified, various corrections can be applied,as represented by block 20, using data processing techniques well knownto those of ordinary skill in the art. As discussed in further detailbelow, the corrections and adjustments made in block 20 can includecompensation for rotation-induced current in the drillstring.

The corrected data steam is then used to determine the overall shape ofthe borehole, i.e., the trajectory, as represented by block 22, whichreceives the processed data from block 20 as well as time and depthmeasurements 24 made at the surface as the downhole data is collected.In the preferred embodiment, and in accordance with conventionalpractice, the shape of the borehole is defined in terms of amathematical model of the borehole trajectory.

System 10 further includes a set of inclinometers and magnetometers, andoptionally one or more gyroscopic sensors, that are sampled at arelatively lower rate, for example, on the order of once every fiveminutes. In accordance with one aspect of the invention, whereas thesensors which provide the high sample rate data 12 are sampled while thedrillstring is rotating, the sensors providing the low sample rate data(which may be the same sensors which provide the high sample rate data12), shown at reference numeral 26 in FIG. 1, are sampled while thedrillstring is stationary. This results in the low sample rate data 26,also referred to herein as stationary sensor data, tending to be ofhigher accuracy relative to the rotating sensor data 12.

Although system 10 can be implemented using a single magnetometer whichresponds to the gravitational field component orthogonal to thedrillstring axis and a single accelerometer which responds to thegravitational field component along the drillstring axis, it is believedthat better performance can be expected from a system having threemutually orthogonal magnetometers and three mutually orthogonalaccelerometers, as is well-known in the art.

As previously described, when the drillstring is rotating, the highsample rate inclinometer/magnetometer sensor package produces therotating sensor data stream 12. The large volume of data makes itpossible to assemble rotational “check shots” in real time, thus makingit possible to estimate cross-axial magnetometer biases andinterferences in real time, such as by applying the teachings of theabove-referenced U.S. Pat. No. 5,806,194 to Rodney et al.

Periodically, drillstring rotation is halted to acquire the low samplerate data 26, also referred to herein as a stationary sensor data. Lowsample rate (stationary) data 26 is filtered using conventionaltechniques, as represented by block 28. The filtered low sample ratedata is further subjected to weighted filtering and/or Kalman filtering,as represented by block 30, and is combined with the mathematical modelof the borehole trajectory from block 22. As noted previously, since thelow sample rate data 26 is obtained when the drillstring is stationary,it can be expected to be more accurate than the high sample rate dataobtained while the drillstring is rotating.

Next, at block 32, the mathematical model defining the overalltrajectory of the borehole is refined and adjusted based on thehigher-accuracy stationary sensor data, to produce a “corrected” surveydata, which itself preferably comprises a refined mathematical model ofthe borehole trajectory.

U.S. Pat. No. 6,021,577 describes a borehole surveying techniquereferred to as “interpolated in-field referencing” or “IIFR,” whichinvolves determining the orientation of a borehole based on downholemagnetic field measurements and time-varying geomagnetic field dataindicative of variations in the geomagnetic field over time. If IIFR isused in conjunction with the present invention, it is also possible tomake estimates of scale factor errors and certain misalignment errors.These estimates can be used to develop statistical models for the errorsin the data. The statistical models can, in turn, be incorporated into afiltering process, such as a Kalman filter, to provide optimal estimatesof tool calibration parameters and certain types of noise. These can beused in block 20 in FIG. 1 to optimally adjust the sensor data. Inaddition, the techniques of the aforementioned U.S. Pat. No. 5,806,194can be applied in block 20. The corrected data 34 can then be used tocalculate nearly continuous surveys along the wellbore trajectory,providing trajectory details which are not available when surveys areonly taken when the survey instruments are stationary.

FIG. 2 shows a somewhat more detailed diagram of the portion of thedownhole hardware that controls the operation of the inclinometers andmagnetometers. It is to be understood that if different sensors are usedfor the high sample rate data channel from those for the low sample ratedata, a similar structure to that shown in FIG. 2 would be provided forthe additional sensors.

As shown in FIG. 2, the sensors in the preferred embodiment include atri-axis accelerometer array 50 and a tri-axis magnetometer array 52.The respective outputs from arrays 50 and 52 are applied to ananalog-to-digital (A/D) converter 54. The digital output from A/Dconverter 54 is then supplied to a controller 56. Power is supplied toarrays 50 and 52 and controller 56 via a power bus 58 in accordance withconventional practices.

Turning to FIG. 3, there is shown a survey sub 60 within which thesensor arrays 50 and 52 and control circuitry shown in FIGS. 1 and 2(collectively, the survey tool 10) are carried.

As previously discussed, the present invention is concerned withaccounting for cross-axial rotation-induced magnetic fields resultingfrom rotation of the survey sub 60 while the rotating sensormeasurements are being taken. The invention contemplates severalalternative but not necessarily mutually exclusive methodologies for sodoing.

In one embodiment of the invention, rotation-induced magneticinterference with data sampling is avoided by electrically isolatingsurvey tool 10 from remaining portions of the drillstring, therebyeliminating the current path for induced currents through the drillcollar 62 that houses survey tool 10. To accomplish this electricalisolation, at least two possible approaches can be taken. In oneembodiment, drill collar 62 is made out of a non-conductive fibercomposite material. Suitable materials are well known in the art.

Another option for providing electrical isolation of survey tool 10 isto provide, on each end of drill collar 62, insulating devices such asare disclosed in International Patent Application (PCT) Publication No.WO 03/004826 A1 (“the Fraser et al. application”). The Fraser et al.application is hereby incorporated by reference herein in its entirety.The insulating device disclosed in the Fraser application has the formof an insulative sleeve adapted to conform to the threaded end 64 ofdrill collar 62. Providing such insulating sleeves at either end (orboth ends) of drill collar 62 electrically isolates drill collar 62,such that current induced due to rotation of the drillstring issubstantially reduced if not effectively eliminated in the drill collar62 carrying survey tool 10.

Alternatively, or in addition, cancellation of the induced interferencecan be carried out analytically, such that the corrections to therotating sensor data in block 20 can reflect predicted levels ofrotation-induced current in the drillstring. Experimental results haveshown that the predominant effect of rotation on magnetometers is tocreate axial current along the drillstring, which in turn tends toreduce the cross-axial components of the Earth's magnetic field in thereference frame of the survey tool and to rotate the magnetic tool faceangle. Thus, in the analytical approach, the first step is to derive amodel to predict, to at least a first order of approximation, the axialcurrent induced in the drillstring, such that the resultant cross-axialmagnetic effects on the magnetometers can be compensated.

In accordance with one aspect of the invention, the induction model isderived by first calculating, through application of well-establishedelectromagnetic theory principles, the axial electric field that wouldbe induced by immersing the drill string a time varying magnetic field.It is believed that this would be a straightforward exercise for personsof ordinary skill in the art. As would be recognized by persons ofordinary skill in the art, such parameters as the physical dimensions ofthe drill collar, the permeability and permittivity of the material fromwhich the drill collar is made, and certain other boundary conditionsmust be specified for the purposes of such computation.

Next, and in accordance with one aspect of the invention, the axialelectric field calculation is repeated assuming that the time-varyingmagnetic field has been rotated 90° with respect to the drill string andits phase has been rotated by 90°. Then, the results of these twocalculations are summed to obtain a modeling of the induced electricfield resulting from rotation of the drill string. The conductivity ofthe drillstring is used along with the induced electric field in orderto calculate the current. Finally, the interfering magnetic field iscalculated from the induced current.

Optionally, through comparison of the modeled and observed interference(for example, at one or more depths), the model may be refined toincorporate a scaling factor. This is particularly important because theelectric boundary conditions that determine the magnitude of the inducedcurrent are not known in advance.

The predictive model of rotation-induced axial current must becalibrated prior to its use in a particular survey. Preferably, themodeling of the induced interference is calibrated in situ with thespecific bottom hole assembly (BHA) to be used in a particular survey,prior to actually conducting the survey. The in situ calibrationpreferably includes the inductance effects manifested to first order asa phase change whose magnitude is linear with frequency of drillstringrotation.

In one embodiment, the in situ calibration of the predictiverotation-induced current model is carried out by lowering the BHA intothe borehole to a known location and rotating it in one or more discretefrequencies. Preferably, at least two discrete frequencies are used; forexample, sixty and one-hundred twenty revolutions per minute. Therotation is held at a constant rate for each of the fixed frequenciesfor a reasonable period of time, for example, at least thirty seconds.

In one embodiment, once the predictive modeling of rotation-inducedelectric field has been created and calibrated, the model can be used,in block 20 (see FIG. 1) to correct the high sample rate magnetometerdata 12. That is, the high sample rate data is adjusted to compensatefor the predicted amount of axial current induced in survey tool 60.

In another embodiment, a current generator 70, shown schematically inFIG. 3, may be provided in survey tool 60 to generate an electricalcounter-current to cancel the predicted level of rotation-inducedcurrent along survey tool 60.

In still another alternative embodiment of the invention, in addition toor instead of establishing a predictive model of rotation-inducedcurrent, the drillstring may be provided with measurement tools formeasuring the actual amount of induced current being conducted. Currentmeasurements in the region of survey tool 60 are preferred. Suchreal-time measurements, like the predictive modeling, can be used invarious ways. In one embodiment, the data correction process representedby block 20 in FIG. 1 can involve subtraction of the measured currentvalues from the high sample rate data 12. Alternatively, currentgenerator 62 may be provided in the drill string to generate acompensating counter-current to cancel the measured rotation-inducedcurrent.

Summarizing, the present invention contemplates determining either amodeled (predicted) rotation-induced current value or an actual(measured) rotation-induced current value and either analyticallycorrecting data values in the high sample rate data stream 12 orgenerating a counter-current to offset the predicted or actualrotation-induced current in the drillstring.

FIG. 4 is a flow diagram illustrating a wellbore surveying process inaccordance with an exemplary embodiment of the invention. As shown inFIG. 4, the survey process begins with development of a model forpredicting rotation-induced axial current due to the rotation of thedrillstring within the Earth's magnetic field, represented by block 80in FIG. 4.

Thereafter, in block 82, the model is calibrated, preferably in situ. Asdescribed above, the calibration process preferably involves loweringthe BHA to one (or more) discrete depths in the borehole and rotatingthe drillstring at one or more constant frequencies for sufficientperiods of time to obtain reliable data regarding actual performance ofthe sensors (e.g., 30 seconds at each depth and rotational frequency).If IIFR is used, the operator can skip the calibration step and make useof the data measured immediately following each static survey.Alternatively, if using IIFR, the calibration can be performed inreal-time, since the cross-axial magnetic field, which is a function ofinclination, azimuth, and local magnetic field vector, is known at anygiven time.

Having calibrated the model, the borehole survey can commence, asrepresented by block 84 in FIG. 4. This process involves calculating adetailed survey segment based on the rotating sensor data aftercorrection thereof based on the model. During the course of the survey,a real-time stream of rotating sensor data is generated by sensor array50 (see FIG. 2). The rotating sensor data is conditioned usingconventional processes, such as cross-axial analysis and/or Kalmanfiltering, as represented by block 86. The conditioning process 86preferably further includes discarding readily identifiable spuriousdata points, which can be expected due to drilling noise that can beanticipated to be present in any drilling operation.

Next, in block 88, the conditioned rotating sensor data is corrected andadjusted based upon estimates of scale factor errors and the like.Further, in accordance with one aspect of the invention, this step 88includes adjustment to compensate for the predicted rotation-inducedaxial current formulated in blocks 80 and 82.

To make use of an analytical model of the magnetic interference, it isnecessary to measure the angular velocity of the survey tool since thisis one of the inputs to the model. This can be accomplished as follows.Suppose that the magnetometers are sampled with a constant samplingperiod of T seconds per sample. Designate successive samples with aninteger index i. For a pair of orthogonal magnetometers rotating in amagnetic field, the outputs of the two magnetometers at specific sampletimes i, Bx_(i) and By_(i), are given by

Bx _(i) =Boxy _(i)·cos(ω_(i) ·t _(i)+φ)

By _(i) =Boxy _(i)·sin(ω_(i) ·t _(i)+φ)

where Boxy, is the value of the cross-axial magnetic field at time t_(i)and φ is a constant determined by the time chosen as the start ofsampling.

It is immediately evident that

Boxy _(i)=√{square root over (BX _(i) ² +By _(i) ²)}

Let a finite difference time derivative be taken using N samples, whereN is a small integer. Assuming that the angular velocity does not varyrapidly, it is readily shown that to first order

$\frac{{Bx}_{i + N} - {Bx}_{i}}{N \cdot \tau} \approx {{{- \omega_{j}} \cdot {Boxy}_{i}}{{\sin \left( {{\omega_{u} \cdot t_{i}} + \varphi} \right)}.}}$

In this equation, the symbol ≈ designates approximate equality.

-   -   where N is a small integer >0

${\frac{{By}_{i + N} - {By}_{i}}{N \cdot \tau} \approx {{\omega_{j} \cdot {Boxy}_{i}}{\cos \left( {{\omega_{u} \cdot t_{i}} + \varphi} \right)}}},{Thus}$${\sqrt{\left( \frac{{Bx}_{i + N} - {Bx}_{i}}{N \cdot \tau} \right)^{2} +}\left( \frac{{By}_{i + N} - {By}_{i}}{N \cdot \tau} \right)^{2}} \approx {\omega_{j} \cdot {Boxy}_{i}}$Therefore$\omega_{j} \approx {\frac{\sqrt{{Bx}_{i}^{2} + {By}_{i}^{2}}}{{N \cdot \sqrt{\left( \frac{{Bx}_{i + N} - {Bx}_{i}}{N \cdot \tau} \right)^{2}}} + \left( \frac{{By}_{i + N} - {By}_{i}}{N \cdot \tau} \right)^{2}}.}$

The integer N is selected as a tradeoff between sample rate, sensoraccuracy, and expected range of rotational frequencies. As a rule ofthumb, N should be chosen so that, on average, the expected error in

Bw_(i+N)−Bw_(i)

where w takes on the values x or y

is no worse than three times the expected error in the magnetometer'sreadings, and preferably no worse than √{square root over (2)} times theexpected error in the magnetometer's readings.

The variable j is the integer nearest to the middle of i and i+N.

Once the rotating sensor data has been fully conditioned and adjusted, amathematical model of a segment of the wellbore trajectory can bedeveloped, as represented by block 92.

In parallel with the steps thus far noted with reference to FIG. 4, thesurvey process further involves the step of periodically interruptingrotation of the drillstring, as represented by block 90 in FIG. 4. Inone embodiment, this step occurs approximately every five minutes,although this interval can be longer or shorter as circumstancesdictate. At this stage, stationary sensor readings are taken, which islikely to produce more accurate data owing to the absence of anyinduction effects which may result from rotation of the drillstring.

Whenever new stationary sensor readings are taken in block 90, thesystem is programmed to reconcile the current trajectory model with thestationary sensor readings, the rationale being that the stationarysensor readings can be expected to be more accurate than the rotatingsensor readings. Bringing the trajectory model into conformance with theperiodically generated stationary sensor readings can therefore beexpected to improve the accuracy of the trajectory model. Thisreconciliation process is represented by block 94 in FIG. 4.

Those of ordinary skill in the art will recognize that a furtheradvantage of the invention is that by enabling the operator to calculatenearly continuous surveys along the wellbore trajectory, the presentinvention advantageously allows the operator to continuously calibratethe survey tool 60 in a manner not possible using prior art techniques,which have traditionally involved periodically interrupting the rotationof the tool at discrete downhole locations. Those of ordinary skill inthe art will recognize the advantages of being able to calibrate asurvey tool's range, scale factor, bias and the like on a real-timebasis, since such parameters are subject to drift during a drillingoperation.

In the preferred embodiment, the various data processing functionsrepresented in FIG. 1 are performed downhole, by controller 56 shown inFIG. 2, in order to minimize the amount of data required to betelemetered to the surface.

From the foregoing detailed description of specific embodiments of theinvention, it should be apparent that methods and apparatuses forwellbore surveying with a rotating sensor package have been disclosed.Although specific embodiments and variations of the invention have beendisclosed herein in some detail, this has been done solely for thepurposes of describing various features and aspects of the invention,and is not intended to be limiting with respect to the scope of theinvention. It is contemplated that various substitutions, alterations,and/or modifications, including but not limited to those implementationvariations which may have been suggested in the present disclosure, maybe made to the disclosed embodiments without departing from the spiritand scope of the invention as defined by the appended claims, whichfollow.

1-28. (canceled)
 29. A method of surveying a well borehole penetrating earth formations, comprising the acts of: disposing a sensor tool on a downhole segment of a drillstring inserted into said borehole; while said drillstring is rotating in said borehole, obtaining a first set of rotating sensor data from said sensor tool, the first set of data comprising both magnetometer data and accelerometer data, and obtained at a first sample rate; obtaining a second set of data from the sensor tool while the sensor tool is stationary, the second set of data comprising magnetometer data and accelerometer data, the second set of data obtained at a second, lower, sample rate; and correlating the first and second data sets to estimate the trajectory of said borehole through the formations.
 30. The method of claim 29, wherein the magnetometer data of the first set of rotating sensor data comprises data influenced by an ambient magnetic field.
 31. The method of claim 29, wherein the magnetometer data of the first set of rotating sensor data comprises data influenced by a magnetic field resulting at least in part from rotation of the drillstring.
 32. The method of claim 29, wherein the act of estimating the trajectory of the borehole comprises calculating a trajectory model of the borehole.
 33. The method of claim 29, wherein said sensor tool includes a magnetometer sensor.
 34. The method of claim 29, wherein said magnetometer sensor comprises a tri-axis Magnetometer.
 35. A method of surveying a well borehole, comprising the acts of: disposing a sensor tool on a drillstring inserted into said borehole; while said drillstring is rotating in said borehole, obtaining a first set of sensor data from at least one inclinometer and at least one magnetometer, the data including data influenced by magnetic fields comprising at least an ambient magnetic field and a rotation-induced magnetic field; correcting the first set of sensor data based upon modeling of the rotation-induced magnetic field, to provide a corrected set of sensor data; modeling the borehole path in reference to the corrected set of sensor data; while the drillstring is not rotating in the borehole, obtaining a second set of data, the second set of data obtained from at least one inclinometer and at least one magnetometer; and adjusting the borehole path model in reference to the second set of data.
 36. The method of claim 35, wherein the first and second sets of sensor data are obtained from the same inclinometer and the same magnetometer.
 37. The method of claim 35, wherein the modeling of the rotation-induced magnetic field comprises a model of rotation-induced magnetic field current induced in said drillstring due to rotation of said drillstring in the Earth's magnetic field, said modeling providing a predicted rotation-induced current; and wherein the method further comprises the act of applying a countercurrent to said sensor tool to cancel the predicted rotation-induced current.
 38. A method of surveying a well borehole, comprising the acts of: disposing a sensor tool on a downhole segment of a drillstring inserted into said borehole; determining a model that comprises the current that would be induced in a drillstring immersed in a time-varying magnetic field as a result of rotation of the drillstring in a borehole; obtaining a set of rotating sensor data from said sensor tool while the drillstring is rotating in said borehole; and modeling the borehole trajectory in reference to both the modeled induced current and the rotating sensor data;
 39. The method of claim 38, wherein the act of modeling the borehole trajectory comprises applying corrections to the set of rotating sensor data, wherein the corrections are based at least in part on the modeled induced axial current.
 40. The method of claim 38, wherein the act of determining a model of the induced axial current comprises calibrating the model through taking at least one stationary measurement of said drillstring within the borehole.
 41. The method of claim 38, wherein the act of determining a model of the induced axial current comprises calibrating the model through taking at least one stationary measurement of said drillstring within the borehole before obtaining the set of rotating sensor data.
 42. The method of claim 38, wherein the act of determining a model of the induced axial current comprises calibrating the model through use of measurements obtained while rotating the drillstring in the borehole at one or more known frequencies.
 49. The method of claim 38, wherein the act of determining a model comprising current that would be induced in a drillstring comprises determining the model based on axial current that would be induced in the drillstring. 